// Include files.
#include "TestDriveService.hpp"

TestDriveService::TestDriveService(TestDriveSubsystem &drive) :
	m_joystickLeft(1),
	m_joystickRight(2),
	m_drive(RequireControl(drive)),
	m_service(m_drive, m_joystickLeft, m_joystickRight)
{
	AddSubservice(m_service);
	m_service.AddFilter(new ScaleFilter<CartesianValue>(0.5), true);
	m_service.AddFilter(new DeadzoneFilter(0.1), true);
}

void TestDriveService::HandleStart()
{
	m_service.Start();
}
